code: def test_pred_world_to_cam(self, num_points, device, dtype):
      (
          intrinsics,
          gt_world_to_cam,
          world_points,
          img_points,
      ) = self._get_test_data(num_points, device, dtype)
  
      pred_world_to_cam = kornia.geometry.solve_pnp_dlt(
          world_points, img_points, intrinsics
      )
      assert_close(
          pred_world_to_cam, gt_world_to_cam, atol=1e-4, rtol=1e-4
      )
  
file_path: kornia/test/geometry/calibration/test_pnp.py
imports: import pytest
  import torch
  from torch.autograd import gradcheck
  import kornia
  from kornia.geometry.calibration.pnp import _mean_isotropic_scale_normalize
  from kornia.testing import assert_close, tensor_to_gradcheck_var
label_desc: Use image node_id 7 for calling the TestSolvePnpDlt obj's underlying member method code with example usage: obj.test_pred_world_to_cam(num_points, device, dtype) without return types